Surgical instrument assembly comprising a flexible articulation system

ABSTRACT

A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 15/996,863, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, filed Jun. 4, 2018, which issued on Oct. 20, 2020 as U.S. Pat. No. 10,806,448, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, filed Dec. 18, 2014, which issued on Jun. 5, 2018 as U.S. Pat. No. 9,987,000, the entire disclosures of which are hereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments and staple cartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jaw members, wherein each jaw member can be adapted to be inserted into a patient and positioned relative to tissue that is to be stapled and/or incised. In various embodiments, one of the jaw members can support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other jaw member can support an anvil with staple-forming pockets aligned with the rows of staples in the staple cartridge. Generally, the stapling instrument can further include a pusher bar and a knife blade which are slidable relative to the jaw members to sequentially eject the staples from the staple cartridge via camming surfaces on the pusher bar and/or camming surfaces on a wedge sled that is pushed by the pusher bar. In at least one embodiment, the camming surfaces can be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples in order to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue gripped between the jaw members. In at least one embodiment, the knife blade can trail the camming surfaces and cut the tissue along a line between the staple rows. Examples of such stapling instruments are disclosed in U.S. Pat. No. 7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLE MEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FOR DEPLOYING THE SAME, the entire disclosure of which is hereby incorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspects of the related art in the field of the invention at the time, and should not be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:

FIG. 1 is a plan view of an end effector of a surgical stapling instrument comprising a staple cartridge, an anvil, and a closure tube configured to move the anvil between an open position and a closed position;

FIG. 2 is a partial perspective view of the end effector of FIG. 1 illustrated with portions removed to illustrate a fixed axis articulation joint;

FIG. 3 is a perspective view of an articulation joint in accordance with at least one embodiment;

FIG. 4 is a plan view of the articulation joint of FIG. 3 in an unarticulated configuration;

FIG. 5 is a plan view of the articulation joint of FIG. 3 in an articulated configuration;

FIG. 6 is an elevational view of an articulation actuator comprised of wire illustrated in an unloaded condition;

FIG. 7 is an elevational view of the articulation actuator of FIG. 6 illustrated in a loaded condition in which it s experiencing a compressive load;

FIG. 8 is an elevational view of the articulation actuator of FIG. 6 illustrated in a loaded condition in which it is experiencing a tensile load;

FIG. 9 is a plan view of an articulation joint in accordance with at least one embodiment illustrated in an unarticulated configuration;

FIG. 10 is a plan view of the articulation joint of FIG. 9 illustrated in an articulated configuration;

FIG. 11 is a longitudinal cross-section of the articulation joint of FIG. 9 taken along line 11-11 in FIG. 9 ;

FIG. 12 is a cross-section of the articulation joint of FIG. 9 taken along line 12-12 in FIG. 9 ;

FIG. 13 is a cross-section of an articulation joint in accordance with at least one alternative embodiment;

FIG. 14 is a plan view of an articulation joint in accordance with at least one embodiment illustrated in an unarticulated configuration;

FIG. 15 is a plan view of the articulation joint of FIG. 14 illustrated in an articulated configuration;

FIG. 16 is a perspective view of a flexible articulation backbone configured to support a firing member in accordance with at least one embodiment;

FIG. 17 is an exploded view of the flexible backbone of FIG. 16 ; and

FIG. 18 is a perspective view of a flexible backbone configured to support a firing member in accordance with at least one embodiment.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patent applications that were filed on Dec. 18, 2014, which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL         INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND         MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER; now         U.S. Pat. No. 9,844,374;     -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL         INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS; now U.S. Pat.         No. 10,188,385;     -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE         ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS; now U.S.         Pat. No. 9,844,375;     -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING         ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE         SURGICAL END EFFECTORS; now U.S. Pat. No. 10,085,748;     -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL         INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A         DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE; now         U.S. Pat. No. 10,245,027;     -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL         INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS; now U.S. Pat.         No. 10,004,501;     -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL         INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING         BEAM SUPPORT ARRANGEMENTS; now U.S. Pat. No. 9,943,309;     -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL         INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING         BEAM SUPPORT ARRANGEMENTS; now U.S. Pat. No. 9,968,355; and     -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL         INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM;         now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patent applications that were filed on Mar. 1, 2013 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/782,295, entitled         ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR         SIGNAL COMMUNICATION; now U.S. Pat. No. 9,700,309;     -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY         POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS; now U.S.         Pat. No. 9,782,169;     -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL         SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS; now U.S. Patent         Application Publication No. 2014/0249557;     -   U.S. patent application Ser. No. 13/782,499, entitled         ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT;         now U.S. Pat. No. 9,358,003;     -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE         PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS; now         U.S. Pat. No. 9,554,794;     -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK         SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS; now U.S. Pat. No.         9,326,767;     -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR         STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR; now         U.S. Pat. No. 9,468,438;     -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL         METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT         PORTIONS; now U.S. Patent Application Publication No.         2014/0246475;     -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY         POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM;         now U.S. Pat. No. 9,398,911; and     -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL         INSTRUMENT SOFT STOP; now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patent applications that were filed on Mar. 14, 2013 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/803,097, entitled         ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE; now         U.S. Pat. No. 9,687,230;     -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL         ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT; now         U.S. Pat. No. 9,332,987;     -   U.S. patent application Ser. No. 13/803,053, entitled         INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL         INSTRUMENT; now U.S. Pat. No. 9,883,860;     -   U.S. patent application Ser. No. 13/803,086, entitled         ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION         LOCK; now U.S. Patent Application Publication No. 2014/0263541;     -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR         ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL         INSTRUMENTS; now U.S. Pat. No. 9,808,244;     -   U.S. patent application Ser. No. 13/803,148, entitled         MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT; now U.S. Pat.         No. 10,470,762;     -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE         SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS;         now U.S. Pat. No. 9,629,623;     -   U.S. patent application Ser. No. 13/803,117, entitled         ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL         INSTRUMENTS; now U.S. Pat. No. 9,351,726;     -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE         TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS; now         U.S. Pat. No. 9,351,727; and     -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND         SYSTEM FOR OPERATING A SURGICAL INSTRUMENT; now U.S. Pat. No.         9,888,919.

Applicant of the present application also owns the following patent application that was filed on Mar. 7, 2014 and is herein incorporated by reference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL         SYSTEMS FOR SURGICAL INSTRUMENTS; now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patent applications that were filed on Mar. 26, 2014 and are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER         MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS; now U.S.         Patent Application Publication No. 2015/0272582;     -   U.S. patent application Ser. No. 14/226,099, entitled         STERILIZATION VERIFICATION CIRCUIT; now U.S. Pat. No. 9,826,977;     -   U.S. patent application Ser. No. 14/226,094, entitled         VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT; now         U.S. Patent Application Publication No. 2015/0272580;     -   U.S. patent application Ser. No. 14/226,117, entitled POWER         MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE         UP CONTROL; now U.S. Pat. No. 10,013,049;     -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR         POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES;         now U.S. Pat. No. 9,743,929;     -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK         ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS;         now U.S. Pat. No. 10,028,761;     -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL         INSTRUMENT UTILIZING SENSOR ADAPTATION; now U.S. Patent         Application Publication No. 2015/0272571;     -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL         INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR; now U.S.         Pat. No. 9,690,362;     -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL         INSTRUMENT COMPRISING INTERACTIVE SYSTEMS; now U.S. Pat. No.         9,820,738;     -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE         SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS; now U.S. Pat. No.         10,004,497;     -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR         SURGICAL INSTRUMENT SYSTEM; now U.S. Patent Application         Publication No. 2015/0272557;     -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS         AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT; now U.S. Pat.         No. 9,804,618;     -   U.S. patent application Ser. No. 14/226,076, entitled POWER         MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE         PROTECTION; now U.S. Pat. No. 9,733,663;     -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL         STAPLING INSTRUMENT SYSTEM; now U.S. Pat. No. 9,750,499; and     -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL         INSTRUMENT COMPRISING A ROTATABLE SHAFT; now U.S. Pat. No.         10,201,364.

Applicant of the present application also owns the following patent applications that were filed on Sep. 5, 2014 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY         AND SENSORS FOR POWERED MEDICAL DEVICE; now U.S. Pat. No.         10,111,679;     -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT         WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION; now U.S.         Pat. No. 9,724,094;     -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING         DEVICE DEGRADATION BASED ON COMPONENT EVALUATION; now U.S. Pat.         No. 9,737,301;     -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE         SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR         INTERPRETATION; now U.S. Pat. No. 9,757,128;     -   U.S. patent application Ser. No. 14/479,110, entitled USE OF         POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE;         now U.S. Pat. No. 10,016,199;     -   U.S. patent application Ser. No. 14/479,098, entitled SMART         CARTRIDGE WAKE UP OPERATION AND DATA RETENTION; now U.S. Pat.         No. 10,135,242;     -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE         MOTOR CONTROL FOR POWERED MEDICAL DEVICE; now U.S. Pat. No.         9,788,836; and     -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL         DISPLAY OF TISSUE PARAMETER STABILIZATION; now U.S. Patent         Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patent applications that were filed on Apr. 9, 2014 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR         DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS; now         U.S. Pat. No. 9,826,976;     -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL         INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE         OPERATED FROM THE SAME ROTATABLE OUTPUT; now U.S. Pat. No.         9,649,110;     -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL         INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE         OPERATION OF THE SURGICAL INSTRUMENT; now U.S. Pat. No.         9,844,368;     -   U.S. patent application Ser. No. 14/248,588, entitled POWERED         LINEAR SURGICAL STAPLER; now U.S. Pat. No. 10,405,857;     -   U.S. patent application Ser. No. 14/248,591, entitled         TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT; now U.S.         Pat. No. 10,149,680;     -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR         MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR         ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS;         now U.S. Pat. No. 9,801,626;     -   U.S. patent application Ser. No. 14/248,587, entitled POWERED         SURGICAL STAPLER; now U.S. Pat. No. 9,867,612;     -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE         SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT; now         U.S. Pat. No. 10,136,887; and     -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR         MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION         ARRANGEMENTS; now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patent applications that were filed on Apr. 16, 2013 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,         entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED         BY A SINGLE MOTOR;     -   U.S. Provisional Patent Application Ser. No. 61/812,376,         entitled LINEAR CUTTER WITH POWER;     -   U.S. Provisional Patent Application Ser. No. 61/812,382,         entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;     -   U.S. Provisional Patent Application Ser. No. 61/812,385,         entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION         MOTORS AND MOTOR CONTROL; and     -   U.S. Provisional Patent Application Ser. No. 61/812,372,         entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED         BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” referring to the portion closest to the clinician and the term “distal” referring to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.

A surgical instrument 100 is illustrated in FIGS. 1 and 2 . The surgical instrument 100 comprises a shaft 120, an end effector 130, and an articulation joint 140 rotatably connecting the end effector 130 to the shaft 120. The end effector 130 comprises a first jaw 132 including a staple cartridge. The staple cartridge includes a cartridge body and a plurality of staples removably stored therein. The staple cartridge can be readily removable from the first jaw 132 such that the staple cartridge can be replaced once it has been at least partially expended. In alternative embodiments, the staple cartridge is not readily removable from the first jaw 132. In either event, the end effector 130 further comprises a second jaw 134. The second jaw 134 includes an anvil configured to deform the staples when they are ejected from the staple cartridge. The second jaw 134 is movably coupled to the first jaw 132 and is rotatable between an open position and a closed position (FIG. 1 ) to clamp tissue against the staple cartridge. In alternative embodiments, the first jaw 132 is movably coupled to the second jaw 134 and is rotatable between an open position and a closed position.

A proximal end of the end effector 130 comprises a channel retainer 146. The channel retainer 146 comprises a pivot aperture 147 defined therein. A frame of the shaft 120 comprises a pivot pin closely received within the pivot aperture 147. The pivot aperture 147 constrains the movement of the end effector 130 relative to the shaft 120 such that the end effector 130 can pivot about an articulation axis 190. The articulation axis 190 comprises a fixed pivot axis and the motion of the end effector 130 comprises a circular path about the articulation axis 190. The articulation joint 140 permits one degree of freedom for the end effector 130. The channel retainer 146 comprises a partially circumferential array of lock teeth 148 extending around the proximal perimeter thereof. The shaft 120 includes a lock 180 movable between an unlocked position in which the end effector 130 can be articulated relative to the shaft 120 and a locked position in which the lock 180 is engaged with a lock tooth 148. When the lock 180 is engaged with a lock tooth 148, the lock 180 inhibits the end effector 130 from being rotated about the articulation joint 140.

The shaft 120 further includes a proximal closure tube 121 which is movable relative to a frame of the shaft 120. The proximal closure tube 121 is coupled to a distal closure tube 131 of the end effector 130. More specifically, the distal tube 131 is pivotably coupled to the closure tube 121 by links 143. Each link 143 comprises a proximal projection 144 positioned within an aperture defined in the proximal closure tube 121. Each link 143 further comprises a distal projection 145 positioned within an aperture defined in the distal closure tube 131. The proximal projections 144 define a first pivot axis and the distal projections 145 define a second pivot axis. The first and second pivot axes defined by the links 143 allow the closure tube to accommodate the concurrent articulation of the end effector 130 at the articulation joint 140 and the translation of the closure tube relative to the articulation joint. The links 143 provide two degrees of freedom between the closure tube 121 and the closure tube 131. In various instances, the two degrees of freedom permit compound movements of the closure tube.

Further to the above, the closure tube 131 is operably engaged with the second jaw 134. The closure tube 131 comprises a window 133 and the second jaw 134 comprises a drive tab 135 extending into the window 133. When the closure tube 131 is pulled proximally, a distal sidewall of the window 133 contacts the tab 135 and rotates the second jaw 134 away from the first jaw 132 into an open position. When the closure tube 131 is pushed distally, a proximal sidewall of the window 133 contacts the tab 135 and rotates the second jaw 134 toward the first jaw 132.

The surgical instrument 100 further comprises a firing member 150. The firing member 150 extends through the shaft 120 and the articulation joint 140 and into the end effector 130. The firing member 150 is movable distally through the end effector 130 to eject the staples from the staple cartridge, fasten the tissue positioned intermediate the first jaw 132 and the second jaw 134, and/or incise the tissue positioned intermediate the first jaw 132 and the second jaw 134. The firing member 150 comprises a plurality of lateral portions which generally move together; however, the lateral portions of the firing member 150 can shift relative to one another in order to accommodate the articulation of the end effector 130. In various instances, the firing member 150 bends within the articulation joint 140 which creates an inside radius of curvature on one side of the firing member 150 and an outside radius of curvature on the other side of the firing member 150. The inside radius of curvature is shorter than the outside radius of curvature and, further to the above, each of the firing member layers may have to travel different path lengths through the articulation joint 140 thereby creating the relative movement between the firing member layers. The firing member 150 can further include at least one ramped surface configured to eject the staples from the staple cartridge and/or a cutting edge configured to incise the tissue, as outlined above.

A surgical instrument 200 is illustrated in FIGS. 3-5 . The surgical instrument 200 comprises a shaft 220, an end effector 230, and an articulation joint 240 rotatably connecting the end effector 230 to the shaft 220. The end effector 230 comprises a first jaw including a staple cartridge channel 239 configured to receive a staple cartridge. The staple cartridge includes a cartridge body and a plurality of staples removably stored therein. The staple cartridge can be readily removable from the cartridge channel 239 such that the staple cartridge can be replaced once it has been at least partially expended. In alternative embodiments, the staple cartridge is not readily removable from the first jaw. In either event, the end effector 230 further comprises a second jaw. The second jaw includes an anvil configured to deform the staples when they are ejected from the staple cartridge. The second jaw is movably coupled to the cartridge channel 239 and is rotatable between an open position and a closed position to clamp tissue against the staple cartridge. In alternative embodiments, the first jaw is movably coupled to the second jaw and is rotatable between an open position and a closed position.

The shaft 220 comprises a frame, or spine, 221 and a closure tube which is slidable relative to the spine 221. The closure tube of the shaft 220 can be the same as or similar to the closure tube discussed above in connection with the embodiment of FIGS. 1 and 2 , for example. The shaft spine 221 is rotatably connected to a joint frame, or spine, 241 of the articulation joint 240. The shaft spine 221 comprises pivot apertures 224 defined in opposite sides of the distal end thereof. The joint spine 241 comprises proximal extensions 242 extending proximally therefrom which each include a pivot pin 244 closely received in the pivot apertures 224. The pivot apertures 224 and the pivot pins 244 co-operate to form a proximal articulation axis about which the joint spine 241 can be articulated.

The joint spine 241 of the articulation joint 240 is rotatably connected to an end effector frame, or spine, 231 of the end effector 230. The end effector spine 231 comprises pivot apertures 235 defined in opposite sides of the proximal end thereof. The joint spine 241 further comprises distal extensions 243 extending distally therefrom which each include a pivot pin 245 closely received in the pivot apertures 235. The pivot apertures 235 and the pivot pins 245 co-operate to form a distal articulation axis about which the end effector 230 can be articulated. As discussed above, the articulation joint 240 comprises two articulation axes. Each articulation axis can comprise a fixed articulation axis; however, the presence of two fixed axes within the articulation joint 240 provides the articulation joint 240 with two degrees of freedom. The two degrees of freedom permit the articulation joint 240 to undergo compound movements. Thus, certain embodiments employing the articulation joint 240 and the closure tube of FIGS. 1 and 2 can have a frame capable of compound movements and, in addition, a closure tube capable of compound movements.

The end effector 230 is articulatable in a first direction and a second direction about the articulation joint 240. The first articulation direction and the second articulation direction lie in a common plane. The surgical instrument 200 further includes an articulation system configured to articulate the end effector 230 in the first direction and the second direction. The articulation system comprises a first articulation actuator 247 a and a second articulation actuator 247 b. The first articulation actuator 247 a and the second articulation actuator 247 b extend through the shaft 220 to a handle assembly of a surgical instrument. The first articulation actuator 247 a and the second articulation actuator 247 b can be pushed distally and/or pulled proximally by an articulation drive system in the handle assembly, for example.

An articulation wire 248 a is attached to the first articulation actuator 247 a. The articulation wire 248 a extends through an aperture 246 a defined in the joint spine 241 of the articulation joint 240. The articulation wire 248 a is closely received in the aperture 246 a and can slide relative to the aperture 246 a. The articulation wire 248 a comprises a distal end 249 a mounted to the cartridge channel 239. The articulation wire 248 a can be pushed distally and/or pulled proximally by the first articulation actuator 247 a. When the articulation wire 248 a is pushed distally, the articulation wire 248 a can rotate the end effector 230 in the direction indicated in FIG. 5 . When the articulation wire 248 a is pulled proximally, the articulation wire 248 a can rotate the end effector 230 in an opposite direction.

An articulation wire 248 b is attached to the second articulation actuator 247 b. The articulation wire 248 b extends through an aperture 246 b defined in the joint spine 241 of the articulation joint 240. The articulation wire 248 b is closely received in the aperture 246 b and can slide relative to the aperture 246 b. The articulation wire 248 b comprises a distal end 249 b mounted to the cartridge channel 239. The articulation wire 248 b can be pushed distally and/or pulled proximally by the second articulation actuator 247 b. When the articulation wire 248 b is pulled proximally, the articulation wire 248 b can rotate the end effector 230 in the direction indicated in FIG. 5 . When the articulation wire 248 b is pushed distally, the articulation wire 248 b can rotate the end effector 230 in an opposite direction.

In various instances, the first articulation actuator 247 a and the second articulation actuator 247 b can be actuated independently and/or concurrently. In at least one instance, the first articulation actuator 247 a can be pushed distally while the second articulation actuator 247 b is pulled proximally. Similarly, the first articulation actuator 247 a can be pulled proximally while the first articulation actuator 247 b is pushed distally. In certain instances, one of the articulation actuators 247 a, 247 b can be actuated without actuating the other.

As described above, the first articulation actuator 247 a can push the first articulation wire 248 a distally. Similarly, the second articulation actuator 247 b can push the articulation wire 248 b distally. Ordinarily, the movement of a wire can be unpredictable when experiencing a compressive load, especially as the result of lateral buckling, for example. Disclosed herein are improvements which facilitate the use of wires to articulate the end effector 230.

In various instances, further to the above, the first aperture 246 a defined in the joint spine 241 can be sized and configured to prohibit lateral buckling of the first articulation wire 248 a. Referring to FIG. 4 , the first aperture 246 a constrains the articulation wire 248 a between its proximal end which is attached to the first articulation actuator 247 a and its distal end 249 a which is mounted to the end effector 230. In such instances, the articulation wire 248 a can slide within the first aperture 246 a without collapsing to push the end effector 230 about the articulation joint 240 in the direction illustrated in FIG. 5 . Similarly, the second aperture 246 b defined in the joint spine 241 can be sized and configured to prohibit lateral buckling of the second articulation wire 248 b. Referring to FIG. 4 , the second aperture 246 b constrains the articulation wire 248 b between its proximal end which is attached to the second articulation actuator 247 b and its distal end 249 b which is mounted to the end effector 230. In such instances, the articulation wire 248 b can slide within the second aperture 246 b without collapsing to push the end effector 230 about the articulation joint 240 in an opposite direction to that illustrated in FIG. 5 .

Turning now to FIGS. 6-8 , the first articulation wire 248 a can be comprised of a spring, such as a coil spring, for example. When the end effector 230 is in an unarticulated position, as illustrated in FIG. 4 , the first articulation wire 248 a is in the configuration illustrated in FIG. 6 . When the first articulation wire 248 a is pushed distally to articulate the end effector 230 in the direction illustrated in FIG. 5 , the first articulation wire 248 a can compress. In such instances, the coils of the first articulation wire 248 a move closer to each other. In at least one such instance, the coils of the first articulation wire 248 a can contact each other when the first articulation wire 248 a is compressed. When the coils of the first articulation wire 248 a are closer to each other, the first articulation wire 248 a is more resistant to lateral buckling and, as a result, the first articulation wire 248 a is capable of transmitting a pushing load to the end effector 230.

When the first articulation wire 248 a is pulled proximally to articulate the end effector 230 in an opposite direction to that illustrated in FIG. 5 , the first articulation wire 248 a can stretch. In such instances, the coils of the first articulation wire 248 a move further away from each other, as illustrated in FIG. 7 . Although the coils are further away from each other, the first articulation wire 248 a is under tension in such circumstances and is less susceptible to lateral buckling. Moreover, the first articulation wire 248 a is capable of transmitting a pulling load to the end effector 230 when the first articulation wire 248 a is in a stretched condition.

The second articulation wire 248 b operates in substantially the same way as the first articulation wire 248 a. As a result, the end effector 230 can be pushed in either articulation direction. In addition, the end effector 230 can be pulled in either articulation direction. The articulation wires 248 a, 248 b can be comprised of any suitable material, such as stainless steel, for example. In at least one instance, the wires can comprise a cross-sectional diameter between approximately 0.015″ and 0.030″, for example.

The compound articulation joint 240 can allow the end effector 230 to be articulated up to, including, and/or in excess of 90 degrees, for example. To achieve a 90 degree articulation of the end effector 230, for example, the articulation joint need only articulate 45 degrees about the first fixed articulation axis and 45 degrees about the second fixed articulation axis, in at least one instance. Other instances are envisioned in which the articulation joint 240 articulates a first degree about the first fixed articulation axis and a second degree about the second fixed articulation axis which is different than the first degree. In at least one such instance, the sum of the first degree and the second degree can equal 90 degrees, for example.

A surgical instrument 300 is illustrated in FIGS. 9-12 . The surgical instrument 300 comprises a shaft 320, an end effector 330, and an articulation joint 340 rotatably connecting the end effector 330 to the shaft 320. The end effector 330 comprises a first jaw including a staple cartridge channel 339 configured to receive a staple cartridge. The staple cartridge includes a cartridge body and a plurality of staples removably stored therein. The staple cartridge can be readily removable from the cartridge channel 339 such that the staple cartridge can be replaced once it has been at least partially expended. In alternative embodiments, the staple cartridge is not readily removable from the first jaw. In either event, the end effector 330 further comprises a second jaw. The second jaw includes an anvil configured to deform the staples when they are ejected from the staple cartridge. The second jaw is movably coupled to the cartridge channel 339 and is rotatable between an open position and a closed position to clamp tissue against the staple cartridge. In alternative embodiments, the first jaw is movably coupled to the second jaw and is rotatable between an open position and a closed position.

The shaft 320 comprises a frame, or spine, 321 and a closure tube which is slidable relative to the spine 321. The closure tube can comprise any suitable closure tube. In various instances, the closure tube of the shaft 320 can be the same as or similar to the closure tube discussed above in connection with the embodiment of FIGS. 1 and 2 , for example. The shaft spine 331 is rotatably connected to a flexible joint frame, or flexneck, 341 of the articulation joint 340. The flexneck 341 is comprised of a flexible material. The flexneck 341 can be elastically deformed when the end effector is articulated in order to accommodate the articulation. The flexneck 341 comprises a ball member 342 extending proximally therefrom. The ball member 342 forms a ball and socket joint with a proximal socket 344 defined in the spine 321 of the shaft 320. In various instances, the proximal ball and socket joint can permit the flexneck 341 to articulate relate to the shaft 320. The flexneck 341 can articulate relative to a longitudinal axis of the shaft 320 in any suitable direction. Such articulation is in addition to the articulation flexibility that the flexneck 341 provides.

The flexneck 341 of the articulation joint 340 is also rotatably connected to an end effector frame, or spine, 331 of the end effector 330. The flexneck 341 comprises a ball member 343 extending distally therefrom. The ball member 343 forms a ball and socket joint with a distal socket 345 defined in the spine 331 of the end effector 330. In various instances, the distal ball and socket joint can permit the flexneck 341 to articulate relate to the end effector 330. The flexneck 341 can articulate relative to a longitudinal axis of the end effector 330 in any suitable direction. Such articulation is in addition to the articulation flexibility that the flexneck 341 provides. As a result, the articulation joint 340 comprises several degrees of freedom. Thus, certain embodiments employing the articulation joint 340 can have a frame capable of compound movements. Such compound movements may or may not be constrained by the closure tube extending around the frame. In certain instances, the closure tube can comprise a weakened and/or flexible portion which is co-extensive with and/or overlapping the articulation joint 340. In other instances, the closure tube, such as the closure tube of FIGS. 1 and 2 , for example, can limit the degrees of freedom provided by the flexible frame of the surgical instrument 300.

The end effector 330 is articulatable in at least a first direction and a second direction about the articulation joint 340; however, the end effector 330 may be articulatable in any suitable number of directions. The first articulation direction and the second articulation direction can lie in a common plane. The surgical instrument 300 further includes an articulation system configured to articulate the end effector 330 in the first direction and the second direction. The articulation system comprises a first articulation actuator 348 a and a second articulation actuator 348 b. The first articulation actuator 348 a and the second articulation actuator 348 b extend through the shaft 320 to a handle assembly of a surgical instrument. The first articulation actuator 348 a and the second articulation actuator 348 b can be pushed distally and/or pulled proximally by an articulation drive system in the handle assembly, for example.

In at least one instance, the first articulation actuator 348 a can comprise a first articulation wire 348 a. The articulation wire 348 a extends through an aperture 346 a defined in the flexneck 341 of the articulation joint 340. More specifically, the aperture 346 a extends through several vertebral flanges 347 of the flexneck 341 and the articulation wire 348 a extends through the vertebral flanges 347. The articulation wire 348 a is closely received in the aperture 346 a and can slide relative to the aperture 346 a. The articulation wire 348 a comprises a distal end 349 a fixedly mounted to the cartridge channel 339. The articulation wire 348 a can be pushed distally and/or pulled proximally. When the articulation wire 348 a is pushed distally, the articulation wire 348 a can rotate the end effector 330 in the direction indicated in FIG. 10 . When the articulation wire 348 a is pulled proximally, the articulation wire 348 a can rotate the end effector 330 in an opposite direction.

In at least one instance, the second articulation actuator 348 b can comprise a second articulation wire 348 b. The articulation wire 348 b extends through an aperture 346 b defined in the flexneck 341 of the articulation joint 340. More specifically, the aperture 346 b extends through the vertebral flanges 347 of the flexneck 341 and the articulation wire 348 b extends through the vertebral flanges 347. The articulation wire 348 b is closely received in the aperture 346 b and can slide relative to the aperture 346 b. The articulation wire 348 b comprises a distal end 349 b mounted to the cartridge channel 339. The articulation wire 348 b can be pushed distally and/or pulled proximally. When the articulation wire 348 b is pulled proximally, the articulation wire 348 b can rotate the end effector 330 in the direction indicated in FIG. 10 . When the articulation wire 348 b is pushed distally, the articulation wire 348 b can rotate the end effector 330 in an opposite direction.

In various instances, the first articulation actuator 348 a and the second articulation actuator 348 b can be actuated independently and/or concurrently. For instance, the first articulation actuator 348 a can be pushed distally while the second articulation actuator 348 b is pulled proximally. Similarly, the first articulation actuator 348 a can be pulled proximally while the second articulation actuator 348 b is pushed distally. In certain instances, one of the articulation actuators 348 a, 348 b can be actuated without actuating the other.

Referring to FIG. 10 once again, the compound articulation joint 340 can allow the end effector 330 to be articulated up to, including, and/or in excess of 90 degrees, for example. To achieve a 90 degree articulation of the end effector 330, for example, the distal ball and socket joint may provide A degrees of articulation, the flexneck 341 may bend to provide B degrees of articulation, and the proximal ball and socket joint may provide C degrees of articulation, wherein the summation of A, B, and C equals ninety degrees, for example. In at least one instance, the distal ball and socket joint can provide up to 15 degrees of articulation and the proximal ball and socket joint can also provide up to 15 degrees of articulation, for example. In other instances, the distal ball and socket joint and the proximal ball and socket joint can provide different degrees of articulation. In certain instances, the flexneck 341 can provide up to 54 degrees of articulation, for example, and the proximal and distal ball and socket joints can provide the balance of the necessary articulation. In at least one instance, the distal ball and socket joint can provide between approximately 20-30 degrees of articulation, the flexneck 341 can provide between approximately 20-30 degrees of articulation, and the proximal ball and socket joint can also provide between approximately 20-30 degrees of articulation, for example.

Referring primarily to FIG. 12 , the first articulation actuator 348 a and/or the second articulation actuator 348 b can have a circular cross-section, for example. In such instances, the moment of inertia of each articulation actuator 348 a, 348 b is the same about any bending axis extending through the center thereof. Other embodiments are envisioned in which an articulation actuator comprises a non-circular cross-sectional geometry. Turning now to FIG. 13 , an articulation system can include a flexneck 441. The flexneck 441 is similar to the flexneck 341 in many respects. The flexneck comprises a first aperture 446 a which is configured to slidably receive a first articulation actuator 448 a therein. The first aperture 446 a and the first articulation actuator 448 a are rectangular. Such a configuration provides the first articulation actuator 448 a with different, or unequal, moments of inertia. Based on the arrangement of the first articulation actuator 448 a depicted in FIG. 13 , the first articulation actuator 448 a is more conducive to bending laterally. The first articulation actuator 448 a is closely received in the first aperture 446 a such that the sidewalls of the first aperture 446 a can inhibit lateral buckling of the first articulation actuator 448 a when the first articulation actuator 448 a is compressed.

The flexneck comprises a second aperture 446 b which is configured to slidably receive a second articulation actuator 448 b therein. The second aperture 446 b and the second articulation actuator 448 b are rectangular. Such a configuration provides the second articulation actuator 448 b with different, or unequal, moments of inertia. Based on the arrangement of the second articulation actuator 448 b depicted in FIG. 13 , the second articulation actuator 448 b is more conducive to bending laterally. The second articulation actuator 448 b is closely received in the second aperture 446 b such that the sidewalls of the second aperture 446 b can inhibit lateral buckling of the second articulation actuator 448 b when the second articulation actuator 448 b is compressed. The first articulation actuator 448 a and the second articulation actuator 448 b are parallel and symmetric, but embodiments are envisioned in which the articulation actuators are not parallel and/or symmetric, for example. Moreover, other embodiments are envisioned which only use one articulation actuator. Certain embodiments are envisioned which use more than two articulation actuators.

Referring again to FIG. 12 , the flexneck 341 comprises a central longitudinal aperture defined therein which is configured to slidably receive a firing member 350 therein. The firing member 350 is configured to eject the staples from the staple cartridge positioned in the end effector 330, which is discussed further above. The firing member 350 can also comprise a cutting portion configured to incise the tissue being stapled. In any event, the longitudinal aperture comprises a first lateral side 351 a configured to support a first side of the firing member 350 and a second lateral side 351 b configured to support a second side of the firing member 350. The firing member 350 is placed in compression as it is advanced distally, and the first lateral sidewall 351 a and the second lateral sidewall 351 b can be configured to inhibit lateral buckling of the firing member 350.

Further to the above, the firing member 350 can be supported in any suitable manner. As discussed above, the firing member 350 can be supported directly by the flexneck 341. As the reader will recall, the flexneck 341 is attached at its proximal end to the shaft 320 and at its distal end to the end effector 330. Other embodiments are envisioned in which the firing member 350, and/or any other firing member, is supported by a cantilevered member which is attached to only one of the shaft 320 and the end effector 330, for example. Turning now to FIG. 18 , a surgical instrument can include a tubular member, or backbone, 790 configured to slidably support the firing member 350, for example. The tubular member 790 comprises an elongate body 791 including a proximal end 792 mounted to the shaft of a surgical instrument. The elongate body 791 further includes a distal end 793 and a longitudinal aperture 794 extending therethrough. Similar to the above, the longitudinal aperture 794 is configured to slidably support a firing member, such as firing member 350, for example, therein. Also similar to the above, the sidewalls of the longitudinal aperture 794 are configured to laterally support the firing member 350.

Further to the above, referring again to FIG. 18 , the tubular member 790 is mounted to the shaft of a surgical instrument and extends through an articulation joint which connects an end effector of the surgical instrument to the shaft. When the end effector is articulated, the tubular member 790 can flex to accommodate the articulation. The distal end 793 of the tubular member 790 is not mounted to the end effector and, thus, the tubular member 790 comprises a cantilever mounted to the shaft. Such an arrangement provides the firing member 350 with an independent support to that of the articulation frame. In such instances, the tubular member 790 can move relative to the articulation frame. When the firing member 350 is advanced through the longitudinal aperture 794, the firing member 350 can be slidably supported by the sidewalls of the longitudinal aperture 794. The tubular member 790 is comprised of an integral piece of material; however, the tubular member 790 can comprise an assembly of components.

Turning now to FIGS. 16 and 17 , a surgical instrument can include a tubular member, or backbone, assembly 690 configured to slidably support the firing member 350, for example. The tubular member assembly 690 comprises an elongate body 691 including a proximal end 692 mounted to the shaft of a surgical instrument. The elongate body 691 further includes a distal end 693 and a longitudinal aperture 694 extending therethrough. Similar to the above, the longitudinal aperture 694 is configured to slidably support a firing member, such as firing member 350, for example, therein. Also similar to the above, the sidewalls of the longitudinal aperture 694 are configured to laterally support the firing member 350. The tubular member assembly 690 extends through an articulation joint which connects an end effector of the surgical instrument to the shaft. When the end effector is articulated, the tubular member assembly 690 can flex to accommodate the articulation. When the firing member 350 is advanced through the longitudinal aperture 694 of the tubular member assembly 690, the firing member 350 can be slidably supported by the sidewalls of the longitudinal aperture 694.

The tubular member assembly 690 comprises a first lateral slot 695 positioned on a first side of the longitudinal aperture 694 and a second lateral slot 695 positioned on a second side of the longitudinal aperture 694. A first blowout plate 696 is positioned in the first lateral slot 695 and a second blowout plate 696 is positioned in the second lateral slot 695. The lateral blowout plates 696 are configured to support the firing member 350 and inhibit lateral buckling of the firing member 350. The lateral blowout plates 696 are flexible and can resiliently support the firing member 350. In other embodiments, the lateral blowout plates 696 are rigid. In either event, the lateral blowout plates 696 can slide within the lateral slots 695. Such relative movement between the lateral blowout plates 696 and the elongate body 691 can facilitate the bending of the tubular member assembly 690 when the end effector is articulated. In various instances, the lateral blowout plates 696 can slide within the lateral slots 695 to relieve stress created within the tubular member assembly 690 when the end effector is articulated.

In various instances, the lateral blowout plates 696 can directly support the firing member 350. The lateral blowout plates 696 can be comprised of any suitable material. In at least one instance, the lateral blowout plates 696 are comprised of a lubricious material, such as Teflon, carbon-filled Nylon, and/or any other filled polymer, for example. The materials of the lateral blowout plates 696, the elongate body 691, and/or the firing member 350 can be selected such that the crystalline structures of the selected materials provide for a low coefficient of friction therebetween. In other instances, the tubular member assembly 690 can include spacers 697 positioned intermediate the firing member 350 and the lateral blowout plates 696. A first spacer 697 is positioned intermediate a first side of the firing member 350 and the first blowout plate 696 and a second spacer 697 is positioned intermediate a second side of the firing member 350 and the second blowout plate 696. The spacers 697 can be comprised of any suitable material. In at least one instance, the spacers 697 are comprised of a lubricious material, such as Teflon, carbon-filled Nylon, and/or any other filled polymer, for example. The materials of the lateral blowout plates 696 and the spacers 697 can be selected such that the crystalline structures of the selected materials provide for a low coefficient of friction therebetween. Moreover, the materials of the spacers 697 and the firing member 350 can be selected such that the crystalline structures of the selected materials provide for a low coefficient of friction therebetween.

In various instances, the lateral sides of the elongate body 691 can be solid. In other instances, referring to FIGS. 17 and 18 , windows 699 can be defined in the lateral sides of the elongate body 691. The top and bottom portions of the elongate body 691 are connected by lateral supports 698 extending therebetween. Such an arrangement can permit the elongate body 691 to bend when the end effector is articulated and, at the same time, provide sufficient structural lateral support to the firing member 350 and the lateral blowout plates 696.

Further to the above, the distal end 693 of the tubular member assembly 690 is mounted to the end effector. Owing to the relative movement between the lateral blowout plates 696 and the elongate body 691, the lateral blowout plates 696 provide the firing member 350 with an independent support to that of the articulation frame.

A surgical instrument 500 is illustrated in FIGS. 14 and 15 . The surgical instrument 500 comprises a shaft 520, an end effector, and an articulation joint 540 which rotatably connects the end effector to the shaft 520. The articulation joint 540 comprises two different types of links, i.e., a plurality of first links 541 and a plurality of second links 542. The first links 541 and the second links 542 are arranged in an alternating arrangement. A second link 542 is positioned intermediate each first link 541; however, any suitable arrangement could be utilized. Each first link 541 comprises a first outer diameter and each said second link 542 comprises a second outer diameter. The first outer diameter is larger than the second outer diameter. The first links 541 and the second links 542 are circular and, in such instances, the diameters of the first links 541 and 542 can comprise circular diameters; however, any suitable configuration can be utilized. In embodiments in which the first links 541 and/or the second links 542 are non-circular, the first diameter of the first links 541 can comprise a first lateral width of the first links 541 and, similarly, the second diameter of the second links 542 can comprise a second lateral width of the second links 542.

As illustrated in FIG. 15 , the smaller second diameter of the second links 542 permits the first links 541 to rotate over the second links 542 when the end effector is articulated. In such instances, the first links 541 can pivot into the lateral space of the second links 542. To facilitate such relative rotation between the first links 541 and the second links 542, each first link 541 can comprise a beveled protrusion 543 extending from the proximal and distal sides thereof. Correspondingly, each second link 542 can comprise a beveled recess defined on the opposite sides thereof which receive the beveled protrusions 543. In at least one instance, the beveled protrusions 543 and the beveled recesses can be dome shaped, for example. In any event, the interface between each beveled protrusion 543 and beveled recess provides an articulation joint within the articulation joint 540 about which the first links 541 can pivot.

A pivot interface 544 is present between a frame 521 of the shaft 520 and the proximal-most second link 542. The pivot interface 544 is similar to the protrusion 543 in many respects. A pivot interface 544 can also be present between the end effector and the distal-most second link 542.

Further to the above, the end effector of the surgical instrument 500 can be articulated relative to the shaft 520 about the articulation joint 540 by an articulation actuation system. The articulation actuation system comprises a first articulation actuator 348 a and a second articulation actuator 348 b. The first articulation actuator 348 a extends through the shaft 520 and a first longitudinal aperture 547 a defined in the first links 541 wherein a distal end of the first articulation actuator 348 a is mounted to the end effector. Each first link 541 comprises a portion of the first aperture 547 a. Notably, the first aperture 547 a does not extend through the second links 542. Similarly, the second articulation actuator 348 b extends through the shaft 520 and a second longitudinal aperture 547 b defined in the first links 541 wherein a distal end of the second articulation actuator 348 b is mounted to the end effector. Each first link 541 comprises a portion of the second aperture 547 b. Notably, the second aperture 547 b does not extend through the second links 542.

In the unarticulated configuration of the articulation joint 540, referring to FIG. 14 , the first articulation actuator 348 a and the second articulation actuator 348 b can be pulled proximally to maintain the articulation joint 540 in a compressed configuration. In such instances, the end effector can be pulled proximally to bias first links 541 and the second links 542 into contact with one another and the proximal-most second link 542 into engagement with the shaft 520. The first articulation actuator 348 a and the second articulation actuator 348 b are positioned on opposite sides of, and equally spaced relative to, the longitudinal axis of the articulation joint 540. As a result, the articulation actuators 348 a, 348 b tend to re-center the first links 541 when an equal pulling force is applied to the articulation actuators 348 a, 348 b. Stated another way, when an equal pulling force P is applied to the articulation actuators 348 a, 348 b, the articulation joint 540 is moved into and/or maintained in an unarticulated configuration.

When an imbalance in the pulling forces applied to the actuators 348 a, 348 b is present, further to the above, the end effector can be articulated. For instance, if a first pulling force P1 is applied to the first articulation actuator 348 a and a second pulling force P2 is applied to the second articulation actuator 348 b, wherein the second pulling force P2 is less than the first pulling force P1, the end effector can articulate in the direction indicated in FIG. 15 . Similarly, if the second pulling force P2 is greater than the first pulling force P1, the end effector can articulate in a direction which is opposite to the direction indicated in FIG. 15 .

Similar to the above, the first links 541 and the second links 542 comprise central apertures extending therethrough which are configured to slidably receive a firing member therein. The central apertures of the links 541, 542 are aligned with the longitudinal axis of the shaft 520 when the end effector is in its unarticulated position. As discussed above, the first links 541 can shift inwardly relative to the second links 542 when the end effector is articulated. In such instances, the central apertures of the first links 541 can shift inwardly relative to the central apertures of the second links 542. Moreover, further to the above, the first links 541 can pivot relative to the second links 542 thereby changing the path in which the firing member will follow through the central apertures. The shifting and/or pivoting of the first links 541 relative to the second links 542 dynamically affect the guidance radius of curvature for the firing member. The guidance radius of curvature is shifted inwardly toward the inner radius of curvature of the articulation joint 540. Such an inward shift of the guidance radius of curvature can tend to shorten the path of the firing member through the articulation joint 540 when the end effector is in an articulated position.

As set forth in the concurrently-filed, commonly-owned U.S. patent application Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No. 9,844,374, which was previously incorporated by reference herein, the firing stroke needed for a firing member to fully complete a firing stroke can be proportional to the degree in which the end effector of the surgical instrument is articulated. Stated another way, it has been previously experienced that the more an end effector is articulated, the longer the firing path becomes for a firing member to complete a firing stroke. With regard to the embodiment of FIGS. 14 and 15 , the more the end effector is articulated, the more the firing path for the firing member is shifted inwardly. This inward shift of the firing path for the firing member at least partially compensates for, or offsets, changes in the firing stroke that may occur when the end effector is articulated.

The first links 541 and the second links 542 can be comprised of any suitable material. In various instances, the first links 541 are comprised of a first material and the second links 542 are comprised of a second material which is different than the first material. In certain instances, the first links 541 can be comprised of metal, such as stainless steel, for example. The second links 542 can be comprised of a lubricious material, such as carbon filled Ultem, for example.

Examples

Example 1—A surgical instrument comprises a shaft comprising a shaft frame and an end effector comprising an end effector frame and a jaw movable relative to the end effector frame. The surgical instrument further comprises an articulation joint comprising an articulation frame including a proximal articulation end, a distal articulation end, a first articulation joint connecting the proximal articulation end to the shaft frame, and a second articulation joint connecting the distal articulation end to the end effector frame. The surgical instrument further comprises a firing system movable relative to the shaft frame, the articulation frame, and the end effector frame, wherein the firing system comprises a cutting member movable relative to the end effector frame.

Example 2—The surgical instrument of Example 1, further comprising an outer tube movable relative to the articulation joint, wherein the outer tube is configured to move the jaw between an open position and a closed position.

Example 3—The surgical instrument of Examples 1 or 2, further comprising a first articulation wire fixedly attached to the end effector frame, wherein the first articulation wire is configured to rotate the end effector in a first direction, and a second articulation wire fixedly attached to the end effector frame, wherein the second articulation wire is configured to rotate the end effector in a second direction.

Example 4—The surgical instrument of Example 3, wherein the first articulation wire is configured to push the end effector in the first direction, and wherein the second articulation wire is configured to push the end effector in the second direction.

Example 5—The surgical instrument of Examples 3 or 4, wherein the first articulation wire comprises a first configuration when subjected to a compressive load and a second configuration when subjected to a tensile load.

Example 6—The surgical instrument of Examples 3, 4, or 5, wherein the articulation frame comprises an articulation wire channel, wherein the first articulation wire extends through the articulation wire channel, and wherein the articulation wire channel is configured to constrain the configuration of the first articulation wire.

Example 7—The surgical instrument of Examples 3, 4, 5, or 6, wherein the first articulation wire comprises a first coil spring and the second articulation wire comprises a second coil spring.

Example 8—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, or 7, wherein the articulation frame comprises a flexneck.

Example 9—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or 8, wherein the first articulation joint comprises a first fixed pivot axis.

Example 10—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, or 9, wherein the second articulation joint comprises a second fixed pivot axis.

Example 11—The surgical instrument of Example 10, wherein the first pivot axis is parallel to the second fixed pivot axis.

Example 12—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or 8, wherein the first articulation joint comprises a ball-and-socket joint.

Example 13—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, or 12, wherein the second articulation joint comprises a ball-and-socket joint.

Example 14—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, or 13, wherein the articulation frame comprises a rigid spine.

Example 15—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, or 14, wherein the end effector comprises a staple cartridge comprising staples removably stored therein, wherein the firing system is configured to eject the staples from the staple cartridge.

Example 16—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, or 15, wherein the articulation frame comprises a plurality of frame members including a plurality of first frame members and a plurality of second frame members, wherein the first frame members and the second frame members are arranged in an alternating arrangement.

Example 17—The surgical instrument of Example 16, wherein each first frame member is defined by a first diameter, wherein each second frame member is defined by a second diameter, and wherein the second diameter is smaller than the first diameter.

Example 18—The surgical instrument of Examples 16 or 17, wherein each first frame member comprises a beveled surface which interfaces with a second frame member.

Example 19—A surgical instrument comprising a shaft comprising a shaft frame, an end effector comprising an end effector frame and a jaw movable relative to the end effector frame, and an articulation joint. The articulation joint comprises a proximal articulation end, a distal articulation end, a first articulation ball-and-socket joint connecting the proximal articulation end to the shaft frame, and a second articulation ball-and-socket joint connecting the distal articulation end to the end effector frame. The surgical instrument further comprises, one, a first articulation actuator fixedly attached to the end effector frame, wherein the first articulation actuator is configured to push the end effector in a first direction about the articulation joint and, two, a second articulation actuator fixedly attached to the end effector frame, wherein the second articulation actuator is configured to push the end effector in a second direction about the articulation joint.

Example 20—An assembly for use with a surgical instrument, comprising a shaft portion, an end effector, and an articulation joint comprising a plurality of links including a plurality of first links, wherein each first link comprises a first actuator aperture and a second actuator aperture, and wherein each first link is defined by a first diameter, and a plurality of second links, wherein each second link is defined by a second diameter, wherein the second diameter is smaller than the first diameter. The assembly further comprises a first articulation actuator attached to the end effector, wherein the first articulation actuator extends through the first actuator apertures of the first links, and wherein the first articulation actuator does not extend through the second links and, two, a second articulation actuator attached to the end effector, wherein the second articulation actuator extends through the second actuator apertures of the first links, and wherein the second articulation actuator does not extend through the second links.

Example 21—The assembly of Example 20, wherein each first link comprises a compression surface configured to be compressed against an adjacent second link.

Example 22—The assembly of Example 21, wherein the compression surface comprises a beveled surface.

Example 23—An assembly for use with a surgical instrument comprising a shaft portion, an end effector, a firing member movable relative to the end effector, and an articulation joint, wherein the articulation joint rotatably connects the end effector to the shaft portion. The articulation joint comprises a plurality of links including a plurality of first links, wherein each the first link comprises a first aperture, and a plurality of second links, wherein each second link comprises a second aperture, wherein the first links are configured to shift relative to the second links when the end effector is articulated, wherein the first apertures and the second apertures define a firing member path through the articulation joint for the firing member, and wherein the length of the firing member path is dynamically adjusted when the first links shift relative to the second links.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC         DEVICE, which issued on Apr. 4, 1995;     -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT         HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which         issued on Feb. 21, 2006;     -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING         AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which         issued on Sep. 9, 2008;     -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL         INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,         which issued on Dec. 16, 2008;     -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN         ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;     -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,         which issued on Jul. 13, 2010;     -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE         IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;     -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL         INSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No.         7,845,537;     -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL         CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed         Feb. 14, 2008;     -   U.S. patent application Ser. No. 12/031,873, entitled END         EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed         Feb. 15, 2008, now U.S. Pat. No. 7,980,443;     -   U.S. patent application Ser. No. 12/235,782, entitled         MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.         8,210,411;     -   U.S. patent application Ser. No. 12/249,117, entitled POWERED         SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY         RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;     -   U.S. patent application Ser. No. 12/647,100, entitled         MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR         DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009; now U.S. Pat.         No. 8,220,688;     -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE         CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;     -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL         STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.         8,561,870;     -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL         STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT         ARRANGEMENTS, now U.S. Pat. No. 9,072,535;     -   U.S. patent application Ser. No. 13/524,049, entitled         ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,         filed on Jun. 15, 2012; now U.S. Pat. No. 9,101,358;     -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE         CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,         2013, now U.S. Pat. No. 9,345,481;     -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE         CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,         2013, now U.S. Patent Application Publication No. 2014/0263552;     -   U.S. Patent Application Publication No. 2007/0175955, entitled         SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER         LOCKING MECHANISM, filed Jan. 31, 2006; and     -   U.S. Patent Application Publication No. 2010/0264194, entitled         SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,         filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby         incorporated by reference herein.

Although the various embodiments of the devices have been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Preferably, the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material. 

What is claimed is:
 1. A surgical instrument, comprising: a shaft comprising a shaft frame, wherein said shaft defines a longitudinal shaft axis; an end effector, comprising: an end effector frame; and a jaw movable relative to said end effector frame; an articulation joint, comprising: an articulation frame, comprising: a proximal articulation end; and a distal articulation end; a first articulation joint connecting said proximal articulation end to said shaft frame; and a second articulation joint connecting said distal articulation end to said end effector frame; a firing system movable relative to said shaft frame, said articulation frame, and said end effector frame, wherein said firing system comprises a cutting member movable relative to said end effector frame; a first articulation cable comprising a first distal cable end fixedly attached to said end effector frame on a first side of said longitudinal shaft axis, wherein said first articulation cable extends through said first articulation joint and said second articulation joint; and a second articulation cable comprising a second distal cable end fixedly attached to said end effector frame on a second side of said longitudinal shaft axis opposite said first side, wherein said second articulation cable extends through said first articulation joint and said second articulation joint, and wherein said first articulation cable and said second articulation cable are cooperatively actuatable to articulate said end effector relative to said shaft in an articulation plane.
 2. A surgical instrument, comprising: a shaft comprising a shaft frame and defining a longitudinal shaft axis; an end effector, comprising: an end effector frame; and a jaw movable relative to said end effector frame; a staple cartridge comprising a plurality of staples; an articulation joint, comprising: an articulation frame, comprising: a proximal articulation end; and a distal articulation end; a proximal articulation joint defining a proximal articulation axis; and a distal articulation joint defining a distal articulation axis distal to said proximal articulation axis; a firing system movable relative to said shaft frame, said articulation frame, and said end effector frame, wherein said firing system is coupled to a cutting member movable relative to said end effector frame; a first articulation cable comprising a first distal cable end terminated to said end effector frame on a first side of said longitudinal shaft axis, wherein said first articulation cable extends through said proximal articulation joint and said distal articulation joint; and a second articulation cable comprising a second distal cable end terminated to said end effector frame on a second side of said longitudinal shaft axis opposite said first side, wherein said second articulation cable extends through said proximal articulation joint and said distal articulation joint, and wherein said first articulation cable and said second articulation cable are antagonistically actuatable to articulate said end effector relative to said shaft in an articulation plane. 